Implementation of a Long Short-Term Memory Neural Network-Based Algorithm for Dynamic Obstacle Avoidance.

Autonomous mobile robots are essential to the industry, and human-robot interactions are becoming more common nowadays. These interactions require that the robots navigate scenarios with static and dynamic obstacles in a safely manner, avoiding collisions. This paper presents a physical implementation of a method for dynamic obstacle avoidance using a long short-term memory (LSTM) neural network that obtains information from the mobile robot's LiDAR for it to be capable of navigating through scenarios with static and dynamic obstacles while avoiding collisions and reaching its goal. The model is implemented using a TurtleBot3 mobile robot within an OptiTrack motion capture (MoCap) system for obtaining its position at any given time. The user operates the robot through these scenarios, recording its LiDAR readings, target point, position inside the MoCap system, and its linear and angular velocities, all of which serve as the input for the LSTM network. The model is trained on data from multiple user-operated trajectories across five different scenarios, outputting the linear and angular velocities for the mobile robot. Physical experiments prove that the model is successful in allowing the mobile robot to reach the target point in each scenario while avoiding the dynamic obstacle, with a validation accuracy of 98.02%.

Corrigendum: Ring attractor bio-inspired neural network for social robot navigation.

[This corrects the article DOI: 10.3389/fnbot.2023.1211570.].

Ring attractor bio-inspired neural network for social robot navigation.

Introduction: We introduce a bio-inspired navigation system for a robot to guide a social agent to a target location while avoiding static and dynamic obstacles. Robot navigation can be accomplished through a model of ring attractor neural networks. This connectivity pattern between neurons enables the generation of stable activity patterns that can represent continuous variables such as heading direction or position. The integration of sensory representation, decision-making, and motor control through ring attractor networks offers a biologically-inspired approach to navigation in complex environments. Methods: The navigation system is divided into perception, planning, and control stages. Our approach is compared to the widely-used Social Force Model and Rapidly Exploring Random Tree Star methods using the Social Individual Index and Relative Motion Index as metrics in simulated experiments. We created a virtual scenario of a pedestrian area with various obstacles and dynamic agents. Results: The results obtained in our experiments demonstrate the effectiveness of this architecture in guiding a social agent while avoiding obstacles, and the metrics used for evaluating the system indicate that our proposal outperforms the widely used Social Force Model. Discussion: Our approach points to improving safety and comfort specifically for human-robot interactions. By integrating the Social Individual Index and Relative Motion Index, this approach considers both social comfort and collision avoidance features, resulting in better human-robot interactions in a crowded environment.

(A)symmetry during gait initiation in people with Parkinson's disease: A motor and cortical activity exploratory study.

Background: Gait asymmetry and deficits in gait initiation (GI) are among the most disabling symptoms in people with Parkinson's disease (PwPD). Understanding if PwPD with reduced asymmetry during GI have higher asymmetry in cortical activity may provide support for an adaptive mechanism to improve GI, particularly in the presence of an obstacle. Objective: This study quantified the asymmetry of anticipatory postural adjustments (APAs), stepping parameters and cortical activity during GI, and tested if the presence of an obstacle regulates asymmetry in PwPD. Methods: Sixteen PwPD and 16 control group (CG) performed 20-trials in two conditions: unobstructed and obstructed GI with right and left limbs. We measured, through symmetry index, (i) motor parameters: APAs and stepping, and (ii) cortical activity: the PSD of the frontal, sensorimotor and occipital areas during APA, STEP-I (moment of heel-off of the leading foot in the GI until the heel contact of the same foot); and STEP-II (moment of the heel-off of the trailing foot in the GI until the heel contact of the same foot) phases. Results: Parkinson's disease showed higher asymmetry in cortical activity during APA, STEP-I and STEP-II phases and step velocity (STEP-II phase) during unobstructed GI than CG. However, unexpectedly, PwPD reduced the level of asymmetry of anterior-posterior displacement (p < 0.01) and medial-lateral velocity (p < 0.05) of the APAs. Also, when an obstacle was in place, PwPD showed higher APAs asymmetry (medial-lateral velocity: p < 0.002), with reduced and increased asymmetry of the cortical activity during APA and STEP-I phases, respectively. Conclusion: Parkinson's disease were not motor asymmetric during GI, indicating that higher cortical activity asymmetry can be interpreted as an adaptive behavior to reduce motor asymmetry. In addition, the presence of obstacle did not regulate motor asymmetry during GI in PwPD.

Gait control to step into a lowered surface with one limb with different demands for accuracy in younger and older adults.

Walking in a daily life context requires constant adaptations to meet the environment's requirements for successful locomotion. We investigated the walking adaptations of younger and older adults when dealing with holes of different lengths in the pathway (60-cm long and 1.3 times foot length [critical point] conditions). We used the critical point condition to increase the demand for accuracy as it reduces the safety margin between the foot and the borders of the hole. Fifteen younger and fifteen older adults walked barefoot on a wooden walkway in three conditions: no-hole, 60-cm hole (length: 0.60 m | width: 0.80 m | depth: 0.095 m), and critical point hole (length: participant's foot length × 1.3 | width: 0.80 m | depth: 0.095 m). Participants stepped into the hole with only one foot. We assessed the impulses based on the ground reaction forces, trunk and lower limb joint angles, stride speed, and the margin of stability based on the concept of the extrapolated center of mass in the sagittal plane. Across walking conditions, older adults exhibited a larger margin of stability than younger adults. Before the hole, both age groups increased the braking impulse and adopted a more flexed posture of the lower limbs to help to lower the body in the subsequent step. Only older adults increased the vertical braking impulse and markedly reduced stride speed when stepping into both holes. Both age groups adopted a more vertically oriented trunk posture as a strategy to contribute to stability control when stepping into the hole. The two age groups showed a larger margin of stability and a more flexed trunk posture after the hole than the no-hole condition. Older adults were able to control body stability adequately and even better than younger adults. Younger and older adults used the same anticipatory and compensatory locomotor adjustments before and after the hole. These adjustments resulted in improved stability control. The differences between younger and older adults were confined to the moment of stepping into the hole. Older adults used a more cautious strategy that ensured task accuracy and gait progression.

Exploring a Novel Multiple-Query Resistive Grid-Based Planning Method Applied to High-DOF Robotic Manipulators.

The applicability of the path planning strategy to robotic manipulators has been an exciting topic for researchers in the last few decades due to the large demand in the industrial sector and its enormous potential development for space, surgical, and pharmaceutical applications. The automation of high-degree-of-freedom (DOF) manipulator robots is a challenging task due to the high redundancy in the end-effector position. Additionally, in the presence of obstacles in the workspace, the task becomes even more complicated. Therefore, for decades, the most common method of integrating a manipulator in an industrial automated process has been the demonstration technique through human operator intervention. Although it is a simple strategy, some drawbacks must be considered: first, the path's success, length, and execution time depend on operator experience; second, for a structured environment with few objects, the planning task is easy. However, for most typical industrial applications, the environments contain many obstacles, which poses challenges for planning a collision-free trajectory. In this paper, a multiple-query method capable of obtaining collision-free paths for high DOF manipulators with multiple surrounding obstacles is presented. The proposed method is inspired by the resistive grid-based planner method (RGBPM). Furthermore, several improvements are implemented to solve complex planning problems that cannot be handled by the original formulation. The most important features of the proposed planner are as follows: (1) the easy implementation of robotic manipulators with multiple degrees of freedom, (2) the ability to handle dozens of obstacles in the environment, (3) compatibility with various obstacle representations using mathematical models, (4) a new recycling of a previous simulation strategy to convert the RGBPM into a multiple-query planner, and (5) the capacity to handle large sparse matrices representing the configuration space. A numerical simulation was carried out to validate the proposed planning method's effectiveness for manipulators with three, five, and six DOFs on environments with dozens of surrounding obstacles. The case study results show the applicability of the proposed novel strategy in quickly computing new collision-free paths using the first execution data. Each new query requires less than 0.2 s for a 3 DOF manipulator in a configuration space free-modeled by a 7291 × 7291 sparse matrix and less than 30 s for five and six DOF manipulators in a configuration space free-modeled by 313,958 × 313,958 and 204,087 × 204,087 sparse matrices, respectively. Finally, a simulation was conducted to validate the proposed multiple-query RGBPM planner's efficacy in finding feasible paths without collision using a six-DOF manipulator (KUKA LBR iiwa 14R820) in a complex environment with dozens of surrounding obstacles.

Cortical activity and gait parameter characteristics in people with multiple sclerosis during unobstructed gait and obstacle avoidance.

BACKGROUND: People with Multiple Sclerosis (PwMS) present higher cortical activity during walking. However, the cortical activity during gait while avoiding an obstacle is still not clear. OBJECTIVE: To investigate cortical activity and gait spatial-temporal parameters in PwMS during two different gait tasks (i.e., unobstructed and obstacle avoidance). METHOD: Fifteen PwMS and 15 healthy controls (CG) were recruited. Participants performed ten trials in each gait condition, wearing a 64-electrode cap electroencephalogram (EEG) at 1024 Hz. Kinematic data were obtained through 10 Vicon® cameras at 200 Hz. EEG was analyzed through four cortical areas (frontal, motor, parietal, and occipital cortex areas) and five frequency bands (delta, theta, alpha, beta, and gamma) obtained through the power spectral density. In addition, spatial-temporal gait parameters (e.g., step length and velocity) were measured. Two-way ANOVA (group x gait condition) and MANOVA (group x gait condition) were used to compare gait and EEG parameters, respectively. One-way ANOVA was used to compare groups in the crossing phase of the obstacle avoidance condition. RESULTS: PwMS presented lower step length and velocity, and higher cortical activity in frontal (beta and gamma) and parietal (gamma) cortical areas in both gait conditions compared to CG. Moreover, PwMS presented increased cortical activation (frontal and parietal) and decreased step length and velocity in obstacle avoidance compared with unobstructed gait. In addition, PwMS required more cortical resources (frontal and parietal) than CG to accomplish both gait conditions. During the obstacle avoidance task, it was further observed that PwMS positioned their feet closer to the obstacle, before and after the task, compared to CG. CONCLUSION: PwMS demand higher cortical resources to accomplish gait tasks, mainly when it is necessary to negotiate an obstacle in the pathway. This higher cortical activity may be a compensatory mechanism to deal with damage in subcortical structures caused by multiple sclerosis.

The Critical Point to Step into a Hole is Similar in Young and Older Adults.

The avoidance of a hole in the pathway while walking has been systematically investigated; however, depending on the dimensions of the hole, the option to avoid it is infeasible, and it is necessary to use the so-called accommodation strategy to step into the hole. We investigated the critical point between the avoidance and accommodation strategies when dealing with a hole in the ground during locomotion of young and older adults. Young and older adults performed two tasks: verbal estimation and walking. We used holes of different lengths and constant depth (12 cm). In the verbal estimation task, participants stood and looked at each hole and verbally respond if they would step into or avoid it. In the walking task, they walked and chose to either step or avoid the hole. Both age groups preferred to step into the hole when it was larger than 1.3 times their foot length in both tasks. The perception of affordances of young and older adults to step into a hole was similar, and it was unaffected by the investigated tasks. Thus, our participants preferred to have a safety margin that was large enough to guarantee that the whole foot would accommodate within the hole.

Executive Functioning, Muscle Power and Reactive Balance Are Major Contributors to Gait Adaptability in People With Parkinson's Disease.

Background and Aim: The ability to adapt gait when negotiating unexpected hazards is crucial to maintain stability and avoid falling. This study investigated cognitive, physical and psychological factors associated with gait adaptability required for obstacle and stepping target negotiation in people with Parkinson's disease (PD). Methods: Fifty-four people with PD were instructed to either: (a) avoid an obstacle at usual step distance; or (b) step onto a target at either a short or long step distance projected on a walkway two heel strikes ahead and then continue walking. Participants also completed clinical [Hoehn & Yahr rating scale; Movement Disorders Society version of the Unified Parkinson's Disease Rating Scale motor section (MDS-UPDRS-III)], cognitive [simple reaction time, Trail Making and Stroop stepping (difference between incongruent and standard Choice Stepping Reaction Time, CSRT) tests], physical [hip abductor muscle power and reactive balance (pull test from the MDS-UPDRS-III)] and psychological (Fall Efficacy Scale-International) assessments. Results: Discriminant function analysis revealed Stroop stepping test (inhibitory control) performance was the best predictor of stepping errors across the Gait Adaptability Test (GAT) conditions. Poorer executive function [Trail Making Test (TMT)] and reactive balance predicted poorer stepping accuracy in the short target condition; poorer reactive balance predicted increased number of steps taken to approach the obstacle and the long target; and poorer executive function predicted obstacle avoidance. Weaker hip abductor muscle power, poorer reactive balance, slower reaction time, poorer executive function and higher concern about falling were significant predictors of shorter step length while negotiating the obstacle/targets. Conclusion: Superior executive function, effective reactive balance and good muscle power were associated with successful gait adaptability. Executive function and reactive balance appear particularly important for precise foot placements; and cognitive capacity for step length adjustments for avoiding obstacles. These findings suggest that impaired inhibitory control contributes to stepping errors and may increase fall risk in people with PD. These findings help elucidate mechanisms for why people with PD fall and may facilitate fall risk assessments and fall prevention strategies for this group.

Obstacle Avoidance Increases Asymmetry of Crossing Step in Individuals With Parkinson's Disease and Neurologically Healthy Individuals.

The authors' aim was to investigate gait asymmetry of crossing step during obstacle avoidance while walking in people with Parkinson's disease (PD) under and without the effects of dopaminergic medication. Thirteen individuals with PD and 13 neurologically healthy individuals performed 5 trials of unobstructed gait and 10 trials of obstacle crossing during gait (5 trials with each leg) and spatiotemporal parameters were analyzed. Obstacle crossing increased step duration of the crossing step for the most-affected or nondominant limb compared to the crossing step with the least-affected or dominant limb. Individuals with PD without the effects of medication increased step duration for the step with the least-affected limb compared to the step with the most-affected limb during obstacle crossing.

Obstacle crossing with dual tasking is a danger for individuals with Alzheimer's disease and for healthy older people.

BACKGROUND/OBJECTIVE: The aim of this study was to analyze the effects of dual tasking on obstacle crossing during walking by individuals with Alzheimer's disease (AD) and by healthy older people. METHODS: Thirty four elderly individuals (16 healthy subjects and 18 individuals with AD) were recruited to participate in this study. Three AD individuals and one control participant were excluded due to exclusion criteria. The participants were instructed to walk barefoot at their own speed along an 8 m long pathway. Each participant performed five trials for each condition (unobstructed walking, unobstructed walking with dual tasking, and obstacle crossing during walking with dual tasking). The trials were completely randomized for each participant. The mid-pathway stride was measured in the unobstructed walking trials and the stride that occurred during the obstacle avoidance was measured in the trials that involved obstacle crossing. RESULTS/CONCLUSION: The behavior of the healthy elderly subjects and individuals with AD was similar for obstacle crossing during walking with dual tasking. Both groups used the "posture first" strategy to prioritize stability and showed decreased attention to executive tasking while walking. Additionally, AD had a strong influence on the modifications that are made by the elderly while walking under different walking conditions.

A model for selecting alternate foot placement during human locomotion

The selection of alternate foot placement is based on visual inputs.

A model for selecting alternate foot placement during human locomotion

The selection of alternate foot placement is based on visual inputs. (AU)